ver=$(rosversion -d)
sudo apt-get install -y ros-$ver\-roslint
sudo apt-get install -y ros-$ver-ddynamic-reconfigure 
sudo apt-get install -y ros-$ver\-serial
sudo apt-get install -y ros-$ver\-rosserial
sudo apt-get install -y ros-$ver\-gmapping
sudo apt-get install -y ros-$ver\-navigation
sudo apt-get install -y ros-$ver\-map-server
sudo apt-get install -y ros-$ver\-costmap-2d
sudo apt-get install -y ros-$ver\-teleop-twist-keyboard 
sudo apt-get install -y ros-$ver\-slam-karto
sudo apt-get install -y ros-$ver\-robot-pose-publisher
sudo apt-get install -y ros-$ver\-tf2-web-republisher
sudo apt-get install -y ros-$ver\-hector-slam
sudo apt-get install -y ros-$ver\-teb-local-planner
sudo apt-get install -y ros-$ver\-robot-localization
sudo apt-get install -y ros-$ver\-imu-filter-madgwick
sudo apt-get install -y ros-$ver\-laser-filters

sudo cp 58-serial.rules /etc/udev/rules.d/
sudo usermod -aG dialout $USER
sudo usermod -aG video $USER
echo "ROS Depend Installed Successfully"

